Uniform Bounds of the Coriolis/Centripetal Matrix of Serial Robot Manipulators

Many control laws for robot manipulators assume uniform boundedness of the Coriolis/centripetal matrix to insure global stability. In this paper, a new procedure to derive explicitly uniform bounds of the Coriolis/centripetal matrix is proposed. This procedure has the advantage with respect to other methods of avoiding the computation of the Christoffel symbols of first order involved in the derivation of the dynamics of the whole mechanism. To this end a new description of the Coriolis/centripetal matrix has been introduced based on fundamental matrices which exhibit structural properties of commutation and representation.